EP2769373A1 - Übernahme von daten aus bilddatenbasierenden kartendiensten in ein assistenzsystem - Google Patents
Übernahme von daten aus bilddatenbasierenden kartendiensten in ein assistenzsystemInfo
- Publication number
- EP2769373A1 EP2769373A1 EP12751507.0A EP12751507A EP2769373A1 EP 2769373 A1 EP2769373 A1 EP 2769373A1 EP 12751507 A EP12751507 A EP 12751507A EP 2769373 A1 EP2769373 A1 EP 2769373A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- image data
- vehicle
- map service
- data
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims abstract description 56
- 230000007613 environmental effect Effects 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 7
- 230000007704 transition Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 235000016936 Dendrocalamus strictus Nutrition 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 5
- 239000013589 supplement Substances 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000274965 Cyrestis thyodamas Species 0.000 description 1
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/53—Querying
- G06F16/532—Query formulation, e.g. graphical querying
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Definitions
- the invention relates to a method for the acquisition of data
- image data-based map services for use in an assistance system of a vehicle.
- the invention relates to a computer program product and to an apparatus for carrying out the method.
- various assistance systems are used to assist the driver in driving the vehicle.
- Typical areas of use for such assistance systems include, for example, navigation systems that provide the driver with relevant information to enable route guidance.
- Assistance systems assist the driver when parking, for example by making steering interventions or by displaying suitable steering angles.
- Other assistance systems provide the driver with a visual representation of the vehicle environment using cameras mounted on the vehicle and / or others
- a method for creating a map of the environment of a vehicle by means of environmental sensors wherein the environmental sensor system comprises an ultrasonic sensor system and at least one image-forming camera system for detecting objects in the surroundings of the vehicle. Measurement data of the ultrasonic sensor system and the measurement data of the camera system are entered in a common map. This map data is used to assist the driver in parking, maneuvering or driving in narrow thoroughfares or close surroundings.
- DE 10 2009 037 835 A1 describes a method for ergonomically displaying virtual information in a real environment.
- the virtual information will be on a display device displayed in at least part of the view of the real environment, taking into account position and orientation.
- the level of reality of the overlay can be increased by displaying the virtual information through images of the environment (for example, the points of interest).
- This environment maps are used, the information is extracted dynamically, location-based, for example, from Google Street View and considered.
- Recording device Images or image sequences of an environment in which the user is located.
- the recorded images or image sequences are sent to a position and navigation server together with position data and data for setting the mobile terminal and the associated camera.
- the data and images or image sequences received there are compared with images or image sequences of an image database, which contains exact survey data for the images. From the image comparison, in which known algorithms are used by the video surveillance, the exact position of the mobile terminal is determined and sent back to this.
- DE 10 2009 018 073 A1 describes a method for updating a geographical database.
- Information provided by a navigation system is used to determine if a vehicle is on a road.
- a geographically coded image is generated using a vehicle-mounted camera.
- the analysis of the geographically encoded image involves comparing the image with stored photorealistic image data to determine if updating the geographic database is required.
- connection is used to supplement the representation of the environment with images from a database, or to perform a comparison of the environment data of the vehicle.
- Map service can not be used in the methods known from the prior art for other tasks of the assistance systems, such as the finding of parking spaces. Disclosure of the invention
- the position and possibly also the orientation of the vehicle is determined.
- any suitable method or even a combination of several methods can be used.
- a suitable method for determining the vehicle position is the use of a radio-based and / or satellite-based navigation system, such as the Global Positioning System (GPS). If the vehicle moves and the vehicle position is continuously determined via the navigation system, the direction of movement of the vehicle can be determined.
- GPS Global Positioning System
- Another suitable method for determining the vehicle position uses the image data-based map service. This is done by comparing camera images of the surroundings of the vehicle with the image data-based map service.
- the vehicle is equipped with one or more cameras which capture at least a portion of the surroundings of the vehicle, or existing cameras are used.
- the connection to the image data-based map service is realized via a database.
- the database is stored, for example, on a machine-readable storage medium, such as on a permanent or rewritable storage medium or on a removable CD-ROM, DVD or a USB stick.
- the image data-based map service is stored, for example, on a machine-readable storage medium, such as on a permanent or rewritable storage medium or on a removable CD-ROM, DVD or a USB stick.
- a data network such as the Internet or a communication connection such as a telephone line or a wireless connection.
- the actual adjustment of the image data of the map service with the camera images takes place using algorithms known to those skilled in the art and can be performed either in a control unit of the assistance system, or on a remote computer device such as a server. If the comparison is carried out in the assistance system, the database is made available to the assistance system on a machine-readable storage medium. If the reconciliation is performed on a remote server, the
- Control unit provided a communication connection and the camera images of the
- the surroundings of the vehicle are transmitted to the server via this communication link.
- the result of the adjustment is transmitted back to the control unit via the same communication connection.
- the images stored in the database of the image data based map service are provided with information about the location of the image and the orientation.
- the orientation of the vehicle can be determined in the position determination.
- first the vehicle position is roughly determined with the aid of GPS and then refined with the aid of the image data of the map service.
- the previous coarse localization by means of GPS can already pre-select the Abreteichenden image data and the cost of adjusting the image data is significantly reduced.
- the orientation of the vehicle may also be via sensors, such as a
- image data of the vehicle environment are retrieved from the image data-based map service. Since the position and orientation of the vehicle are known, the retrieved image data can be arranged in a map of the surroundings of the vehicle. Examples of image data-serving map services are the services offered under the names Google Street View, Google Maps and Google Earth. It is also conceivable to retrieve data from a plurality of image-based map services.
- the image data retrieved from the map service are supplemented by camera images of the vehicle environment.
- the vehicle is equipped with one or more cameras, for example a front camera, a rear camera and one side camera each. It can also be used for z. B.
- the image data of the map service which have possibly already been supplemented by camera images of the vehicle environment, are supplemented with environmental data acquired by environmental sensors.
- Suitable environment sensors on the vehicle are, for example, ultrasonic sensors, LIDAR sensors or radar sensors, as are usually used for measuring distances and for detecting objects in the surroundings of a vehicle.
- step c) of the method according to the invention information is extracted from the image data of the map service, which were optionally supplemented with camera images and / or environmental data.
- Map service is identified in one embodiment of the traffic sign procedure.
- signs relating to stopping and parking bans can identify areas in the vicinity of the vehicle that are unsuitable for parking.
- image data of the image supplemented with camera images and, if appropriate, environmental data
- the image data of the image-data-based map service is updated when changes are detected when matching the image data with the camera images and / or with the environment data acquired with the aid of the environment sensors.
- the image data of the image data-based map service is updated only if the change detected by the adjustment of the image data has been recognized several times, preferably at least three times. In this case, each detection of a change must be independent of each other, that is, for example, be detected by two independent sensor systems or in two different pass-bys of the vehicle.
- the assistance system can, for example, as
- Navigation system and / or run as a parking assistance system.
- a parking assistance system In a
- Embodiment of the method will be created from the image data of the map service, which were optionally supplemented by camera images and environmental data, as well as from this information obtained an image.
- This image is displayed to the driver via a suitable display means, wherein the image representation is preferably carried out as a bird's-eye-view or as a 3D view.
- the image representation is preferably carried out as a bird's-eye-view or as a 3D view.
- the driver is shown the surroundings of the vehicle from an elevated position, so that a clear and simple, understandable presentation results.
- the image representation preferably contains information about possible parking spaces in the surroundings of the vehicle. Since the assistance system has information on the location, orientation and size of the parking space as well as obstacles located in the vicinity of the vehicle, a parking maneuver guided by the assistance system can be implemented easily.
- the image representation is designed so that it can be enlarged or reduced. It is preferred that at a
- Reduction of the image representation is a seamless transition to a generated exclusively from image data of the map service image representation takes place.
- the extracted information can also be used for other assistance systems.
- a navigation system may use information about upcoming lanes to give the driver more precise driving directions.
- the information can also be in intervening assistance systems, which the driver for example
- a computer program for carrying out one of the methods described herein is further proposed when the computer program is executed on a programmable computer device.
- the computer device can be, for example, a module or a control device for implementing individual assistance systems or a subsystem thereof in a vehicle.
- Computer program may be stored on a machine-readable storage medium, such as on a permanent or rewritable storage medium or in association with a computer device, or on a removable CD-ROM, DVD or USB stick. Additionally or alternatively, the computer program may be provided for download on a computing device such as a server, for example via a data network such as the Internet or a communication link, either a telephone line or a wireless connection.
- a device is furthermore proposed, which is set up to carry out the method described above.
- the device comprises a control unit, at least one camera and optionally further environmental sensors, for example ultrasound sensors, LIDAR sensors or radar sensors, for detecting the surroundings of the vehicle, the control unit having a connection to an image data-based map service. Furthermore, the device can further
- Sensors such as an infrared sensor system or a position sensor, such as a GPS sensor include. If the method provides an image representation for the driver, the device further comprises a means for displaying
- Image information such as a flat screen.
- the invention makes it possible to extract information from the image data of an image data-based map service in order to use it in an assistance system of a vehicle.
- Assistance systems such as parking aids obtained in this way also information about the environment of the vehicle, which is currently not in the field of view of the sensors of the vehicle and thus are currently not visible.
- a parking aid implemented by the assistance system according to the invention can use this, for example, to protect the driver from a Passing through possible parking spaces and can also offer the driver possible parking spaces, which are currently not in the field of vision of the vehicle. Since a determination of the orientation of a parking space is also possible with the aid of the image data, the user of a parking aid is relieved, as this does not have to enter the correct orientation of the parking space by hand in the assistance system.
- FIG. 1 shows schematically the course of the method according to the invention
- FIG. 2 shows the device according to the invention installed in a vehicle with a plurality of cameras and environmental sensors
- FIG. 3 shows the surroundings detection with the aid of the device according to the invention.
- FIG. 1 schematically shows the sequence of the method according to the invention.
- the position of the vehicle is determined.
- the data of a radio or satellite-based navigation system 42 and / or data of an image data-based map service 50 are used.
- the camera images 12 are detected with one or more cameras 1 1 and the
- Map Service 50 stored images are provided with positioning and location data for location determination. If an image suitable for the camera images 12 is found in the map service 50 during matching in the map service 50, the position and orientation of the vehicle is known. About a radio or satellite-protected
- Navigation system the position of the vehicle can also be determined.
- the vehicle is in motion and are continuously via the navigation system 42
- the position and orientation data 101 of the vehicle determined in the first method step 100 are used in the second method step 110 to retrieve image data 51 of the vehicle environment from the image-data-based map service 50.
- the image data 51 retrieved from the map service 50 are supplemented with further data in an intermediate step 15.
- camera images 12 of cameras 1 1 mounted on the vehicle are used to supplement the image data 51. Is the vehicle with
- Environmental sensors 21 such as ultrasonic sensors, LIDAR sensors or
- Radar sensors equipped, the thus acquired environmental data 22 can also be used to supplement the image data 51.
- information 125 is extracted from the image data 51 or from the image data 52 supplemented with camera images 12 and / or environment data 22.
- algorithms known to those skilled in the art for image processing and object recognition are used.
- Information about traffic signs, the position of obstacles, the position and height of the curb, the traffic management as well as the location and orientation of parking spaces in the surroundings of the vehicle are extracted from the image data 51 or the supplemented image data 52.
- an image is created from the image data 51 of the map service 50 and possibly from the camera images 12 and the environment data 22 as well as from the information obtained therefrom, which image is displayed to the driver.
- the image representation it is preferable to carry out the image representation as a bird's eye view, in which the surroundings are presented to the driver from an elevated perspective.
- the representation contains information about possible parking spaces in the surroundings of the vehicle. The information about possible parking spaces, the traffic routing and obstacles around the vehicle can be used by the assistance system, for example for a supported parking or Ausparkmanöver.
- FIG. 2 shows a vehicle with the device according to the invention.
- Vehicle 1 is equipped with several cameras 1 1 whose fields of view 10 the environment of Cover vehicle 1 at least partially.
- the vehicle 1 comprises a front camera, a rear camera and one each
- the cameras 1 1 of the vehicle 1 are connected to a control unit 40.
- the vehicle 1 further comprises a plurality of environmental sensors 21, which are also connected to the control unit 40.
- the vehicle 1 has environment sensors 21 in the front and in the rear and in each case two surroundings sensors on the side.
- the environment sensors 21 are designed here as ultrasonic sensors. By the ultrasonic sensors, the controller 40 can detect the exact location of obstacles in the vicinity of the vehicle 1. The coverage of the
- Ultrasonic sensors are each indicated by the reference numeral 20.
- the fields of view of the cameras 1 1 are provided with the reference numeral 10.
- a GPS receiver 42 for determining the vehicle position is provided to the control unit 40.
- the control unit 40 are among others a
- FIG. 3 shows an image of the surroundings of the vehicle which was obtained from image data of the map service, camera images and environmental data.
- the vehicle 1 travels on a road 30 in the direction of an intersection 31.
- the fields of view 10, 20, the various cameras and environmental sensors of the vehicle 1 are indicated in the image. From the indicated fields of view, it is apparent that the parking sensors 34 and 35 and the tree 32 can be seen directly by the sensors and cameras integrated in the vehicle.
- the houses 33 are partially hidden by the tree 32.
- Houses 33 in turn obscure the view of the parking lot 36. Although the houses 34 and the traffic sign 38 are not obscured, the distance to the traffic sign 38 is too great to detect the sign only from a camera image.
- the position of the vehicle 1 is determined.
- Vehicle environment retrieved from the image data based map service are supplemented in an intermediate step with camera images of the vehicle cameras 1 1 and the environment data of the vehicle 1.
- information is extracted from the image data of the map service, in the last step of the process be taken over into the assistance system. In the example shown, this was
- Road sign 38 recognized due to the image data as a no-stop sign and identified the parking lot 36, which is not in the field of view of the vehicle 1. In addition, from the parking lots 34, 35 and 36, the orientations and their exact location were determined.
- the extracted information together with the image data of the map service, the camera images and the surrounding data, are merged into a common image presentation which is presented to the driver from an elevated perspective. In this way, the driver of the vehicle 1 receives at a glance all relevant information about the environment. In addition, all necessary data is available to start a guided parking maneuver at the request of the driver.
- the image representation of the vehicle is designed so that it can be increased or decreased at the request of the driver.
- image data based map service added.
- this supplement is so
- the transition between the different representations also takes place seamlessly.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Databases & Information Systems (AREA)
- Remote Sensing (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102011084993A DE102011084993A1 (de) | 2011-10-21 | 2011-10-21 | Übernahme von Daten aus bilddatenbasierenden Kartendiensten in ein Assistenzsystem |
PCT/EP2012/066639 WO2013056884A1 (de) | 2011-10-21 | 2012-08-28 | Übernahme von daten aus bilddatenbasierenden kartendiensten in ein assistenzsystem |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2769373A1 true EP2769373A1 (de) | 2014-08-27 |
EP2769373B1 EP2769373B1 (de) | 2016-01-13 |
Family
ID=46754991
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP12751507.0A Active EP2769373B1 (de) | 2011-10-21 | 2012-08-28 | Übernahme von daten aus bilddatenbasierenden kartendiensten in ein assistenzsystem |
Country Status (6)
Country | Link |
---|---|
US (1) | US9360331B2 (de) |
EP (1) | EP2769373B1 (de) |
JP (1) | JP5901779B2 (de) |
CN (1) | CN103907147B (de) |
DE (1) | DE102011084993A1 (de) |
WO (1) | WO2013056884A1 (de) |
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CN111028534A (zh) * | 2018-10-09 | 2020-04-17 | 杭州海康威视数字技术股份有限公司 | 一种泊车位检测方法及装置 |
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- 2012-08-28 JP JP2014536158A patent/JP5901779B2/ja active Active
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US9360331B2 (en) | 2016-06-07 |
CN103907147B (zh) | 2017-07-04 |
US20150057920A1 (en) | 2015-02-26 |
JP2014531024A (ja) | 2014-11-20 |
EP2769373B1 (de) | 2016-01-13 |
DE102011084993A1 (de) | 2013-04-25 |
JP5901779B2 (ja) | 2016-04-13 |
WO2013056884A1 (de) | 2013-04-25 |
CN103907147A (zh) | 2014-07-02 |
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